I'm always playing on Gigantic, so I can be fairly sure there's no attack coming for a while. Still, the initial planet rush is crucial to setting up a perimeter and getting control of resources. Some various tactics I've read in posts:
1. send out several scouts as far as they'll go and send your colony ships as far as they'll go as well, so as to create the largest perimeter possible. Produce colony ships as quickly as possible while maintaining research and social construction.
2. send out colony ships as they are produced, in random directions, looking for planets. No scouts. If you run into other races or hit empty space you could 'waste' a few colony ships but that's better than wasting time on scouts. Produce colony ships as quickly as possible, reduce research and social to bare minimums, buying what's necessary for production.
3. colonize only the good planets; leave the PQ4-6 for later on.
4. Research quickly up to a faster drive to the detriment of social and colony ship construction. Once you've the faster drive then sprint into action.
There are other variations, approaches, etc. but I've not the time to list them all here. Besides, I'm more curious to see what others are using. Me, I try to churn out and/or buy the colony ships asap, don't use scouts, and focus research on expanding my research capability. I've found that while other races do expand faster, by the time I have been encircled I've usually a half-decent tech advantage. Still, I've yet to try this on anything harder than 'Tough'.
pnich of the hapless Terrans, beaten by the Snafi